一种通用的视觉机器人体系结构

An Universal Visual Robot Architecture

提出了一种新型的通用视觉机器人体系结构 ,它以视觉伺服结构作为基本框架 ,通过引入集散体系结构来提高系统的实时性和灵活性 ,同时作了进一步扩展 ,使其能够满足应用和性能需求。同其它体系结构相比 ,快速响应、结构灵活和高性能是其特点。

In the paper, a new universal visual servoing architecture is put forward. It sets the visual servoing architecture as its basic framework, and introduces distributed architecture to improve the real-time performance and the flexibility of the system. Various expansions are exploited to satisfy different applications and performance requirements. Comparing with other visual servoing architecture, it holds the advantages of fast response, flexible configuration and high performance. At last, a practical visual servoing system is used to demonstrate how to apply the architecture to achieving the design requirements.